SAMD driver - pwm freq settable also on SAMD21

Author: runger1101001

src/drivers/hardware_specific/samd21_mcu.cpp

@@ -178,6 +178,15 @@ void configureSAMDClock() {
  * faster won't be possible without sacrificing resolution.
  */
 void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate, float hw6pwm) {
+
+	long pwm_resolution = (24000000) / pwm_frequency;
+	if (pwm_resolution>SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION) 
+		pwm_resolution = SIMPLEFOC_SAMD_MAX_PWM_RESOLUTION;
+	if (pwm_resolution<SIMPLEFOC_SAMD_MIN_PWM_RESOLUTION) 
+		pwm_resolution = SIMPLEFOC_SAMD_MIN_PWM_RESOLUTION;
+	// store for later use
+	tccConfig.pwm_res = pwm_resolution;
+
 	// TODO for the moment we ignore the frequency...
 	if (!tccConfigured[tccConfig.tcc.tccn]) {
 		uint32_t GCLK_CLKCTRL_ID_ofthistcc = -1;
@@ -235,12 +244,12 @@ void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate,
 
 			if (hw6pwm>0.0) {
 				tcc->WEXCTRL.vec.DTIEN |= (1<<tccConfig.tcc.chan);
-				tcc->WEXCTRL.bit.DTLS = hw6pwm*(SIMPLEFOC_SAMD_PWM_RESOLUTION-1);
-				tcc->WEXCTRL.bit.DTHS = hw6pwm*(SIMPLEFOC_SAMD_PWM_RESOLUTION-1);
+				tcc->WEXCTRL.bit.DTLS = hw6pwm*(pwm_resolution-1);
+				tcc->WEXCTRL.bit.DTHS = hw6pwm*(pwm_resolution-1);
 				syncTCC(tcc); // wait for sync
 			}
 
-			tcc->PER.reg = SIMPLEFOC_SAMD_PWM_RESOLUTION - 1;                 // Set counter Top using the PER register
+			tcc->PER.reg = pwm_resolution - 1;                 // Set counter Top using the PER register
 			while ( tcc->SYNCBUSY.bit.PER == 1 ); // wait for sync
 
 			// set all channels to 0%
@@ -262,7 +271,8 @@ void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate,
 			SIMPLEFOC_SAMD_DEBUG_SERIAL.print(tccConfig.tcc.chan);
 			SIMPLEFOC_SAMD_DEBUG_SERIAL.print("[");
 			SIMPLEFOC_SAMD_DEBUG_SERIAL.print(tccConfig.wo);
-			SIMPLEFOC_SAMD_DEBUG_SERIAL.println("]");
+			SIMPLEFOC_SAMD_DEBUG_SERIAL.print("]  pwm res ");
+			SIMPLEFOC_SAMD_DEBUG_SERIAL.println(pwm_resolution);
 #endif
 		}
 	}
@@ -280,8 +290,8 @@ void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate,
 
 		if (hw6pwm>0.0) {
 			tcc->WEXCTRL.vec.DTIEN |= (1<<tccConfig.tcc.chan);
-			tcc->WEXCTRL.bit.DTLS = hw6pwm*(SIMPLEFOC_SAMD_PWM_RESOLUTION-1);
-			tcc->WEXCTRL.bit.DTHS = hw6pwm*(SIMPLEFOC_SAMD_PWM_RESOLUTION-1);
+			tcc->WEXCTRL.bit.DTLS = hw6pwm*(pwm_resolution-1);
+			tcc->WEXCTRL.bit.DTHS = hw6pwm*(pwm_resolution-1);
 			syncTCC(tcc); // wait for sync
 		}
 
@@ -295,7 +305,8 @@ void configureTCC(tccConfiguration& tccConfig, long pwm_frequency, bool negate,
 		SIMPLEFOC_SAMD_DEBUG_SERIAL.print(tccConfig.tcc.chan);
 		SIMPLEFOC_SAMD_DEBUG_SERIAL.print("[");
 		SIMPLEFOC_SAMD_DEBUG_SERIAL.print(tccConfig.wo);
-		SIMPLEFOC_SAMD_DEBUG_SERIAL.println("]");
+		SIMPLEFOC_SAMD_DEBUG_SERIAL.print("]  pwm res ");
+		SIMPLEFOC_SAMD_DEBUG_SERIAL.println(pwm_resolution);
 #endif
 	}
 
@@ -316,8 +327,8 @@ void writeSAMDDutyCycle(tccConfiguration* info, float dc) {
 //		uint32_t chanbit = 0x1<<(TCC_SYNCBUSY_CC0_Pos+chan);
 //		while ( (tcc->SYNCBUSY.reg & chanbit) > 0 );
 		// set via CCB
-		while ( (tcc->SYNCBUSY.vec.CC & (0x1<<chan)) > 0 );
-		tcc->CCB[chan].reg = (uint32_t)((SIMPLEFOC_SAMD_PWM_RESOLUTION-1) * dc);
+		//while ( (tcc->SYNCBUSY.vec.CC & (0x1<<chan)) > 0 );
+		tcc->CCB[chan].reg = (uint32_t)((info->pwm_res-1) * dc);
 //		while ( (tcc->SYNCBUSY.vec.CCB & (0x1<<chan)) > 0 );
 //		tcc->STATUS.vec.CCBV |= (0x1<<chan);
 //		while ( tcc->SYNCBUSY.bit.STATUS > 0 );